How to set sensor depth topics independently ?

[doisyg]

No description provided.

[doisyg]

Sensor depth outputs two topics: an depth image and a point cloud, however there is only one <topic> attribute under <sensor>.
Right now the depth image is outputted on /topic and the pointcloud on /topic/points
I looked quickly at the code, independently setting the 2 topics is not implemented. I could PR however, I am not sure what would be the best approach. Adding a <topic_points> attribute would imply modifying also the sdf format, right ? Or maybe implementing a remap feature ? But at which level ?

[doisyg]

Ideally providing the equivalent of the gazebo libgazebo_ros_openni_kinect.so plugin attributes:

<depthImageTopicName>
<depthImageCameraInfoTopicName>
<pointCloudTopicName>

[chapulina]

Adding a <topic_points> attribute would imply modifying also the sdf format, right ?

Correct

Or maybe implementing a remap feature ? But at which level ?

If you want it to be very generic, I think it would go at the ign-transport level.

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I don't have a good idea of how to solve this without touching SDF. This feels a bit hacky, but we could support multiple topics within the <topic> tag and put a separator between them?